Design and workspace optimization of a 6/6 cable-suspended parallel robot

Author

Xu, Lin ; Cao, Yi ; Chen, Jin ; Jiang, Shuai

Author_Institution

Huiguang Robot. Res. Center, Jiangnan Univ., Wuxi, China

Volume

10

fYear

2010

fDate

22-24 Oct. 2010

Abstract

This paper mainly addressed the design and workspace optimization of a 6/6 cable-suspended parallel robot. Based on workspace is an essential index that it evaluates the working capacity of parallel mechanism, the size of the workspace determines the moving space of parallel mechanism. This thesis makes use of MATLAB software to program applications, analyze how the mechanized geometric configurations of the base (moving) platform, the ratio of the circumcircle radius and variation of the three posture angles of the moving platform to the base one influence on the two performance indices to work out the optimal workspace.

Keywords

cables (mechanical); design engineering; manipulator kinematics; optimisation; suspensions (mechanical components); MATLAB software; base moving platform; cable-suspended parallel robot; circumcircle radius; design optimization; mechanized geometric configurations; parallel mechanism; posture angles; working capacity; workspace optimization; Load modeling; Kinematics 6-6 cable-suspended parallel robot; Optimal workspace; Performance index;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Application and System Modeling (ICCASM), 2010 International Conference on

Conference_Location

Taiyuan

Print_ISBN

978-1-4244-7235-2

Electronic_ISBN

978-1-4244-7237-6

Type

conf

DOI

10.1109/ICCASM.2010.5622640

Filename

5622640